CN110960372B - Lifting type bedridden patient carrying robot - Google Patents

Lifting type bedridden patient carrying robot Download PDF

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Publication number
CN110960372B
CN110960372B CN202010019682.6A CN202010019682A CN110960372B CN 110960372 B CN110960372 B CN 110960372B CN 202010019682 A CN202010019682 A CN 202010019682A CN 110960372 B CN110960372 B CN 110960372B
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CN
China
Prior art keywords
frame
lifting frame
arm
long
cuboid box
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Active
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CN202010019682.6A
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Chinese (zh)
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CN110960372A (en
Inventor
张同合
孙传祝
于哲
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Zibo Kechuang Medical Instrument Co ltd
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Zibo Kechuang Medical Instrument Co ltd
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Priority to CN202010019682.6A priority Critical patent/CN110960372B/en
Publication of CN110960372A publication Critical patent/CN110960372A/en
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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G7/00—Beds specially adapted for nursing; Devices for lifting patients or disabled persons
    • A61G7/10—Devices for lifting patients or disabled persons, e.g. special adaptations of hoists thereto
    • A61G7/104—Devices carried or supported by
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G7/00—Beds specially adapted for nursing; Devices for lifting patients or disabled persons
    • A61G7/10—Devices for lifting patients or disabled persons, e.g. special adaptations of hoists thereto
    • A61G7/1049—Attachment, suspending or supporting means for patients
    • A61G7/1057—Supported platforms, frames or sheets for patient in lying position
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G7/00—Beds specially adapted for nursing; Devices for lifting patients or disabled persons
    • A61G7/10—Devices for lifting patients or disabled persons, e.g. special adaptations of hoists thereto
    • A61G7/1049—Attachment, suspending or supporting means for patients
    • A61G7/1061—Yokes

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  • Health & Medical Sciences (AREA)
  • Nursing (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Invalid Beds And Related Equipment (AREA)
  • Warehouses Or Storage Devices (AREA)

Abstract

The invention provides a lifting bedridden patient carrying robot, which is characterized in that: the frame is in a frame structure, a cross beam is arranged in the frame, and a lifting driving device is arranged on the cross beam; the driving shaft provided with the driving wheel is supported on the lower surface of the frame, the other end of the driving shaft is provided with a universal wheel, chain transmission is arranged between the travelling driving device and the driving shaft, the lifting driving device is provided with a gear meshed with a rack arranged on the lifting frame, and the lifting frame is provided with a roller close to the inner side of the vertical plate of the frame; the bearing plate is fixed on straight arms of the y-shaped arm I and the y-shaped arm II, the y-shaped arm II is arranged on the lifting frame I, and the y-shaped arm I is hinged on a pin shaft of the lifting frame I through a round hole; the adjusting driving device is hinged on the y-shaped arm II, one end of the adjusting rod is inserted into a power output hole of the adjusting driving device, and the other end of the adjusting rod is hinged on the y-shaped arm I. The invention can reduce the workload and the working difficulty of nursing staff, and is convenient and reliable for carrying patients.

Description

Lifting type bedridden patient carrying robot
Technical Field
The invention provides a lifting type bedridden patient carrying robot, belongs to the field of medical equipment and equipment, and is mainly used for carrying bedridden patients.
Background
With the development of society and the continuous increase of the proportion of the population of the aged over 60 years and 65 years, china gradually enters an aging society. With this, the number of bedridden, even long-term bedridden patients is increasing due to various diseases or other causes. Therefore, the nursing work for bedridden patients is becoming important, and the number of people who are in specialized care work is increasing.
The same problem encountered by the personnel engaged in nursing work, whether in hospitals or at home, is the handling of bedridden patients. Especially in hospitals, as patients need to be checked frequently, nursing staff is required to move the patients back and forth among a sickbed, a stretcher and checking equipment during each check, so that the workload and the working difficulty of the nursing staff are increased, and the pain of the patients is increased.
In view of the current situation of the medical instrument industry, there is an urgent need for a bedridden patient transfer robot that not only reduces the workload and work difficulty of nursing staff, but also transfers patients conveniently and reliably.
Disclosure of Invention
The invention aims to provide a lifting type bedridden patient carrying robot which can replace manual carrying of bedridden patients, is convenient and reliable and does not cause uncomfortable feeling to the patients.
The technical proposal is as follows: the device comprises a chassis, a lifting mechanism and a supporting device, wherein the chassis comprises a frame and a travelling device, the frame is of a rectangular positive 6-face box-shaped frame structure, and the shortest 4 ridge lines and the longest 4 ridge lines of a rectangular box are parallel to the ground; the long side of the cuboid box is the longest ridge, 3 long grooves perpendicular to the longest ridge are formed in the 1 vertical plate in a plumb state, the middle long groove is positioned on a symmetrical plane of the cuboid box perpendicular to the longest ridge, and the other 2 long grooves are symmetrically arranged relative to the symmetrical plane of the cuboid box perpendicular to the longest ridge; the inner surface of the vertical plate is provided with 3 guide rails parallel to the long groove, 2 guide rails I with L-shaped cross sections on two sides are symmetrically arranged relative to the symmetrical plane perpendicular to the longest ridge line of the cuboid box, the distance from a guide rail II with a rectangular cross section to the symmetrical plane perpendicular to the longest ridge line of the cuboid box is a, the guide rail planes of the guide rail I and the guide rail II are parallel to the vertical plate surface where the guide rail I is positioned, the distance between the guide rail plane of the vertical plate surface where the guide rail II is not contacted with the guide rail I and the inner surface of the vertical plate is equal to the distance between the guide rail plane of the vertical plate where the guide rail I is not contacted with the guide rail I and the inner surface of the vertical plate, the 2 guide rails I on two sides are positioned between the 2 long grooves on two sides, the difference between the distance between the 2 long grooves on two sides and the 2 guide rails I on two sides is equal to 2a, and a beam parallel to the ground is arranged in the cuboid box. The travelling device comprises a driving shaft, a driving wheel, universal wheels, a chain transmission, a travelling driving device and a controller, wherein two ends of the driving shaft, of which the middle part passes through an inner hole of a driven part of the chain transmission, are supported on the lower surface of a bottom plate parallel to the ground below a cuboid box of the frame, and are close to a vertical plate which is in a plumb state and has the shortest edge line at one end of the cuboid box, and the axis of the driving shaft is parallel to the shortest edge line of the cuboid box; the bottom plate of the cuboid box of the machine frame is provided with a cuboid opening corresponding to the chain transmission position on the driving shaft, the driving part of the chain transmission extends into the cuboid box of the machine frame, and the driving wheels are arranged at two ends of the driving shaft; an output shaft of a traveling driving device arranged on the upper surface of a bottom plate parallel to the ground below a cuboid box of the frame is connected with a driving part of chain transmission, and the axis of the output shaft of the traveling driving device is parallel to the shortest ridge line of the cuboid box; the travelling driving device is connected with a controller arranged on the upper surface of a bottom plate of a cuboid box of the frame through a wire, the control panel is arranged on the upper surface of a top plate which is parallel to the ground above the cuboid box of the frame and is close to one side of a vertical plate of the cuboid box which is not provided with a long slot, and the controller is connected with the control panel through a wire; the bottom plate of the cuboid case of frame keeps away from the shortest crest line of drive shaft department, is close to 1 piece other shortest crest line departments of cuboid case and is equipped with 2 mounting holes, and the mounting hole axis is perpendicular with the bottom plate of cuboid case, and the even core line of 2 mounting holes is parallel with the longest crest line of cuboid case, and the revolving axle of 2 universal wheels inserts in 2 mounting holes of bottom plate by the cuboid case below of frame and the parallel bottom plate lower surface of ground respectively. The lifting mechanism comprises a lifting frame, a gear and a lifting driving device, wherein the lifting frame comprises a lifting frame I and a lifting frame II, and the lifting frame I and the lifting frame II are both rectangular plane 4-sided frame structures. The distance between the 2 short side frames of the lifting frame I is equal to the distance between the 2 long slots positioned on the two sides of the cuboid box of the frame, the 2 long side frames of the lifting frame I are positioned at the symmetrical surface vertical to the long side frames, the 1 connecting plate I is respectively extended towards the length direction of the short side frames in the direction away from the other 1 long side frames, the 1 connecting rod is respectively extended towards the same direction vertical to the rectangular plane of the lifting frame I, the 2 connecting rods are respectively extended towards the same direction of the connecting rods extended towards the middle parts of the 2 long side frames at the two ends of the 2 long side frames of the lifting frame I, and the 2 pin shafts are respectively extended towards the length direction of the short side frames in the direction away from the other 1 long side frames; the distance between 2 pin shafts at two ends of the same long frame of the lifting frame I and the distance between 2 connecting rods are equal to the distance between 2 short frames of the lifting frame I, the plate surfaces of the connecting plates I are parallel to the rectangular plane of the lifting frame I, and the plate surfaces of the 2 connecting plates I are coplanar; the 2 long frames of the lifting frame I are respectively provided with 3 rollers towards the extending direction of the connecting rod, the axes of the rollers are parallel to the rectangular plane of the lifting frame I, the axes of the rollers are positioned in the same plane, the 2 rollers at the two ends of the same long frame are symmetrically arranged relative to the symmetrical plane of the lifting frame I, which is perpendicular to the long frame, of the lifting frame I, the distance between the 2 rollers at the two ends is equal to the distance between the 2 guide rails I at the two sides of the cuboid box of the frame, and the distance between the middle roller and the symmetrical plane of the lifting frame I, which is perpendicular to the long frame, is a; the distance between the 2 short side frames of the lifting frame II is equal to the distance between the 2 short side frames of the lifting frame I, 3 rollers are respectively arranged on the 2 long side frames of the lifting frame II in the same direction perpendicular to the rectangular plane of the lifting frame II, the axes of the rollers are parallel to the rectangular plane of the lifting frame II, the axes of the rollers are positioned in the same plane, the 2 rollers at the two ends of the same long side frame are symmetrically arranged relative to the symmetrical plane of the lifting frame II perpendicular to the long side frame, the distance between the 2 rollers at the two ends of the same long side frame of the lifting frame II is equal to the distance between the 2 rollers at the two ends of the same long side frame of the lifting frame I, and the distance from the middle roller to the symmetrical plane of the lifting frame II perpendicular to the long side frame is a; a rack is arranged between 2 long frames of the lifting frame II, in the middle of the long frames and on one side of the roller far away from the lifting frame II, the length direction of the rack is parallel to the short frames of the lifting frame II, the tooth shape of the rack faces the direction far away from the roller on the lifting frame II, and the surface of the rack is perpendicular to the rectangular plane of the lifting frame II; the 6 connecting rods extending out of the long frame of the lifting frame I are inserted into the cuboid box from the outside of the cuboid box of the frame through 3 long slots on the cuboid box, the 2 connecting rods at the upper middle part and the two ends of the 2 long frames of the lifting frame I respectively penetrate through the same 1 long slots at the upper middle part and the two sides of the cuboid box, and the direction of the roller at the middle part of the 2 long frames of the lifting frame I, which is opposite to the symmetrical plane of the lifting frame I and perpendicular to the long frame, is the same as the direction of the guide rail II, which is opposite to the symmetrical plane of the cuboid box and perpendicular to the longest ridgeline; the end of 6 connecting rods inserted into the cuboid box is provided with 1 lifting frame II, the roller on the lifting frame II faces the direction of the lifting frame I, and the rectangular plate surface of the lifting frame II after installation is parallel to the rectangular plate surface of the lifting frame I. The output shaft of the lifting driving device arranged on the beam in the cuboid box of the frame is provided with a gear, the gear is meshed with a rack arranged on the lifting frame II, and the lifting driving device is connected with a controller arranged on the upper surface of the bottom plate of the cuboid box of the frame through a wire. The bearing device comprises a y-shaped arm, a bearing plate, an adjusting rod and an adjusting driving device, wherein the y-shaped arm comprises a y-shaped arm I and a y-shaped arm II, both the y-shaped arm I and the y-shaped arm II are composed of a straight arm and an inclined arm, and one end of the inclined arm is fixedly connected with the middle part of the straight arm; the end part of the inclined arm of the y-shaped arm I, which is far away from the straight arm, is provided with a round hole, the end part of the straight arm of the y-shaped arm I, which is close to the round hole at the end part of the inclined arm, is also provided with a round hole, the axis of the round hole is positioned in the plane where the straight arm and the inclined arm are positioned, the axis of the round hole is vertical to the straight arm, and the axes of the 2 round holes are coaxial; the end part of the inclined arm of the y-shaped arm II, which is far away from the straight arm, is provided with a connecting plate II, the end part of the straight arm of the y-shaped arm II, which is close to the connecting plate II at the end part of the inclined arm, is also provided with a connecting plate II, the plate surface of the connecting plate II is vertical to the straight arm, and the plate surfaces of 2 connecting plates II are coplanar; the surface of the rectangular flat-plate-shaped supporting plate is fixed at one end of the straight arm of the y-shaped arm I, which is far away from the round hole, the surface of the supporting plate is vertical to the plane where the straight arm of the y-shaped arm I and the inclined arm are located, the center of the surface of the other 1 supporting plate is fixed at one end of the straight arm of the y-shaped arm II, which is far away from the round hole, and the surface of the supporting plate is vertical to the plane where the straight arm of the y-shaped arm II and the inclined arm are located; the Y-shaped arm II fixed with the bearing plate is arranged on the lifting frame I, the plate surfaces of 2 connecting plates II of the Y-shaped arm II are attached to the plate surfaces of 2 connecting plates I, 2Y-shaped arms I fixed with the bearing plate are respectively hinged to 2 pin shafts positioned on the same 1 axis at two ends of the lifting frame I through round holes arranged at the end parts of the inclined arms far away from the straight arms and the end parts of the straight arms close to the inclined arms, and the straight arm parts of each Y-shaped arm I and each Y-shaped arm II face upwards; the 2 adjusting driving devices are hinged to two sides of the middle of the straight arm part of the y-shaped arm II, one ends of the 2 adjusting rods are respectively inserted into power output holes of the adjusting driving devices, the other ends of the 2 adjusting rods are respectively hinged to one side, close to the y-shaped arm II, of the middle of the straight arm part of the 2 y-shaped arm I, and the 2 adjusting driving devices are connected with a controller arranged on the upper surface of a cuboid box bottom plate of the frame through wires.
On the basis of the prior art, the frame is of a rectangular positive 6-face box-shaped frame structure, and the shortest 4 ridge lines and the longest 4 ridge lines of the rectangular box are parallel to the ground; the long side of the cuboid box is the longest ridge, 3 long grooves perpendicular to the longest ridge are formed in the 1 vertical plate in a plumb state, the middle long groove is located on a symmetrical plane perpendicular to the longest ridge of the cuboid box, and the other 2 long grooves are symmetrically arranged relative to the symmetrical plane perpendicular to the longest ridge of the cuboid box. The inner surface of the vertical plate is provided with 3 guide rails parallel to the long groove, the sections of the 2 guide rails I positioned at two sides are L-shaped, the guide rails I are symmetrically arranged relative to the symmetrical plane of the cuboid box and perpendicular to the longest ridge, the section of the guide rail II positioned in the middle is rectangular, and the distance from the guide rail II to the symmetrical plane of the cuboid box and perpendicular to the longest ridge is a; the guide rail planes of the guide rail I and the guide rail II are parallel to the vertical plate surface where the guide rail I is positioned, and the distance between the guide rail plane of the vertical plate surface where the guide rail II is not contacted with the guide rail I and the inner surface of the vertical plate is equal to the distance between the guide rail plane of the vertical plate surface where the guide rail I is not contacted with the guide rail I and the inner surface of the vertical plate; the two sides of the two guide rails I are positioned between the two sides of the two long grooves, the difference between the distance between the two sides of the two long grooves and the distance between the two sides of the two guide rails I is equal to 2a, and a cross beam parallel to the ground is arranged in the cuboid box. The middle part of a driving shaft of the travelling device passes through an inner hole of a driven part of the chain transmission, two ends of the driving shaft are supported on the lower surface of a bottom plate parallel to the ground below a cuboid box of the frame, and are close to a vertical plate which is in a plumb state and has the shortest edge line at one end of the cuboid box, and the axis of the driving shaft is parallel to the shortest edge line of the cuboid box; the bottom plate of the cuboid box of the machine frame is provided with a cuboid opening corresponding to the chain transmission position on the driving shaft, the driving part of the chain transmission extends into the cuboid box of the machine frame, and the driving wheels are arranged at two ends of the driving shaft; an output shaft of a traveling driving device arranged on the upper surface of a bottom plate parallel to the ground below a cuboid box of the frame is connected with a driving part of chain transmission, and the axis of the output shaft of the traveling driving device is parallel to the shortest ridge line of the cuboid box; the controller is installed on the upper surface of a cuboid bottom plate of the frame, the travelling driving device is connected with the controller through a wire, the control panel is installed on the upper surface of a top plate parallel to the ground above the cuboid bottom plate of the frame and is close to one side of a vertical plate of the cuboid bottom plate without a long groove, and the controller is connected with the control panel through a wire. The bottom plate of the cuboid case of frame keeps away from the shortest crest line of drive shaft department, is close to 1 piece other shortest crest line departments of cuboid case and is equipped with 2 mounting holes, and the mounting hole axis is perpendicular with the bottom plate of cuboid case, and the even core line of 2 mounting holes is parallel with the longest crest line of cuboid case, and the revolving axle of 2 universal wheels inserts in 2 mounting holes of bottom plate by the cuboid case below of frame and the parallel bottom plate lower surface of ground respectively. The lifting frame I and the lifting frame II of the lifting mechanism are of rectangular plane 4-sided frame structures, the distance between 2 short side frames of the lifting frame I is equal to the distance between 2 long grooves on two sides of a cuboid box of the frame, 2 long side frames of the lifting frame I are positioned at symmetrical planes perpendicular to the long side frames, 1 connecting plate I extends towards the length direction of the short side frames in the direction away from the other 1 long side frames, 1 connecting rod extends towards the same direction perpendicular to the rectangular plane of the lifting frame I, 2 connecting rods extend towards the same direction of the connecting rods extending towards the middle of the 2 long side frames at two ends of the 2 long side frames of the lifting frame I, and 2 pin shafts extend towards the length direction of the short side frames in the direction away from the other 1 long side frames; the distance between 2 pin shafts at two ends of the same long frame of the lifting frame I is equal to the distance between 2 short frames of the lifting frame I, the distance between 2 connecting rods at two ends of the same long frame is also equal to the distance between 2 short frames of the lifting frame I, the plate surfaces of the connecting plates I are parallel to the rectangular plane of the lifting frame I, and the plate surfaces of the 2 connecting plates I are coplanar; the 2 long frames of the lifting frame I are respectively provided with 3 rollers towards the extending direction of the connecting rod, the axes of the rollers are parallel to the rectangular plane of the lifting frame I, the axes of the rollers are positioned in the same plane, the 2 rollers at the two ends of the same long frame are symmetrically arranged relative to the symmetrical plane of the lifting frame I, which is perpendicular to the long frame, of the lifting frame I, the distance between the 2 rollers at the two ends is equal to the distance between the 2 guide rails I at the two sides of the cuboid box of the frame, and the distance between the middle roller and the symmetrical plane of the lifting frame I, which is perpendicular to the long frame, is a; the distance between the 2 short side frames of the lifting frame II is equal to the distance between the 2 short side frames of the lifting frame I, 3 rollers are respectively arranged on the 2 long side frames of the lifting frame II in the same direction perpendicular to the rectangular plane of the lifting frame II, the axes of the rollers are parallel to the rectangular plane of the lifting frame II, the axes of the rollers are positioned in the same plane, the 2 rollers at the two ends of the same long side frame are symmetrically arranged relative to the symmetrical plane of the lifting frame II perpendicular to the long side frame, the distance between the 2 rollers at the two ends of the same long side frame of the lifting frame II is equal to the distance between the 2 rollers at the two ends of the same long side frame of the lifting frame I, and the distance from the middle roller to the symmetrical plane of the lifting frame II perpendicular to the long side frame is a; a rack is arranged between 2 long frames of the lifting frame II, in the middle of the long frames and on one side of the roller far away from the lifting frame II, the length direction of the rack is parallel to the short frames of the lifting frame II, the tooth shape of the rack faces the direction far away from the roller on the lifting frame II, and the surface of the rack is perpendicular to the rectangular plane of the lifting frame II; the 6 connecting rods extending out of the long frame of the lifting frame I penetrate through 3 long grooves in the rectangular box from the outside of the rectangular box of the rack to be inserted into the rectangular box, the 2 connecting rods in the upper middle of the 2 long frames of the lifting frame I penetrate through the same 1 long groove in the upper middle of the rectangular box, the 2 connecting rods at the two ends of the 2 long frames of the lifting frame I respectively penetrate through the same 1 long groove at the two sides of the rectangular box, and the direction of the roller in the middle of the 2 long frames of the lifting frame I relative to the symmetrical plane of the lifting frame I perpendicular to the long frames is the same as the direction of the guide rail II 4 relative to the symmetrical plane of the rectangular box perpendicular to the longest edge line; the end of 6 connecting rods inserted into the cuboid box is provided with 1 lifting frame II, the roller on the lifting frame II faces the direction of the lifting frame I, and the rectangular plate surface of the lifting frame II after installation is parallel to the rectangular plate surface of the lifting frame I. The output shaft of the lifting driving device arranged on the beam in the cuboid box of the frame is provided with a gear, the gear is meshed with a rack arranged on the lifting frame II, and the lifting driving device is connected with a controller arranged on the upper surface of the bottom plate of the cuboid box of the frame through a wire. The Y-shaped arm I and the Y-shaped arm II of the supporting device are both composed of a straight arm and an inclined arm, and one end of the inclined arm is fixedly connected to the middle part of the straight arm; the end part of the inclined arm of the y-shaped arm I, which is far away from the straight arm, is provided with a round hole, the end part of the straight arm of the y-shaped arm I, which is close to the round hole at the end part of the inclined arm, is also provided with a round hole, the axes of the 2 round holes are all positioned in the plane where the straight arm and the inclined arm are positioned, the axis of the round hole is vertical to the straight arm, and the axes of the 2 round holes are coaxial; the end part of the inclined arm of the y-shaped arm II, which is far away from the straight arm, is provided with a connecting plate II, the end part of the straight arm of the y-shaped arm II, which is close to the connecting plate II at the end part of the inclined arm, is also provided with a connecting plate II, the plate surface of 2 connecting plates II is vertical to the straight arm, and the plate surfaces of 2 connecting plates II are coplanar; the surface of the rectangular flat-plate-shaped supporting plate is fixed at one end of the straight arm of the y-shaped arm I, which is far away from the round hole, the surface of the supporting plate is vertical to the plane where the straight arm of the y-shaped arm I and the inclined arm are located, the center of the surface of the other 1 supporting plate is fixed at one end of the straight arm of the y-shaped arm II, which is far away from the round hole, and the surface of the supporting plate is vertical to the plane where the straight arm of the y-shaped arm II and the inclined arm are located; the Y-shaped arm II fixed with the bearing plate is arranged on the lifting frame I, the plate surfaces of 2 connecting plates II of the Y-shaped arm II are attached to the plate surfaces of 2 connecting plates I, 2Y-shaped arms I fixed with the bearing plate are respectively hinged to 2 pin shafts positioned on the same 1 axis at two ends of the lifting frame I through round holes arranged at the end parts of the inclined arms far away from the straight arms and the end parts of the straight arms close to the inclined arms, and the straight arm parts of each Y-shaped arm I and each Y-shaped arm II face upwards; the 2 adjusting driving devices are hinged to two sides of the middle of the straight arm part of the y-shaped arm II, one ends of the 2 adjusting rods are respectively inserted into power output holes of the adjusting driving devices, the other ends of the 2 adjusting rods are respectively hinged to one side, close to the y-shaped arm II, of the middle of the straight arm part of the 2 y-shaped arm I, and the 2 adjusting driving devices are connected with a controller arranged on the upper surface of a cuboid box bottom plate of the frame through wires.
The working principle is as follows: firstly, according to the height of a patient, the distance between the 2 y-shaped arms I is adjusted through an adjusting driving device and an adjusting rod, so that the total length of the 3 bearing plates is adapted to the height of the patient; secondly, the robot runs to the bedside of the patient, and the patient is turned over towards the direction away from the robot; the lifting mechanism of the robot enables the supporting device to descend, when the supporting plate of the supporting device falls to the position for grabbing a patient, namely, the supporting plate contacts the bed surface of the patient, the side-turned patient is turned back to a horizontal state and lies on the supporting plate, and then the action of grabbing the patient is completed. And when the supporting device is lifted to one side above the chassis of the robot by the lifting mechanism, the running device of the robot can drive the robot to run, so that the patient is transported to a destination to be inspected and the like, and the transportation action is completed.
When the robot reaches the destination, one side of the robot, which is close to the inspection equipment, is provided with a lifting mechanism, so that the supporting device descends, and when the supporting plate of the supporting device contacts the bed surface, the patient is turned over towards the direction away from the robot; the robot's support is raised and moved away and after the patient is turned back to the recumbent position, the examination can begin.
After the inspection is finished, the process is repeated.
Compared with the current state of the art, the invention replaces manual work to carry bedridden patients, greatly reduces the workload and the working difficulty of nursing staff, and reduces the occupation amount of the nursing staff to a certain extent; the invention can carry patients without causing any uncomfortable feeling, and is convenient and reliable.
Drawings
FIG. 1 is an isometric view of an embodiment of the present invention transferring a patient, i.e., a carrier plate, to one side above a chassis;
FIG. 2 is an isometric view of the embodiment of the invention shown in FIG. 1 with the patient being transported, i.e., the carrier plate, on the upper side of the chassis and the hidden frame adjacent one side riser and the left side riser of the crane;
FIG. 3 is an isometric view of the embodiment of the invention shown in FIG. 1 capturing a patient, i.e., with the support plate above the patient's couch top;
FIG. 4 is an isometric view of the travel drive arrangement of the embodiment of FIG. 1 of the present invention;
FIG. 5 is an isometric view of the lift drive arrangement of the embodiment of FIG. 1 of the present invention;
FIG. 6 is an isometric view of the y-arm I of the embodiment of the invention shown in FIG. 1;
Fig. 7 is an isometric view of the y-arm ii of the embodiment of the invention shown in fig. 1.
Detailed Description
1. The device comprises a frame 2, a long groove 3, a guide rail I4, a guide rail II 5, a cross beam 6, a driving shaft 7, a driving wheel 8, universal wheels 9, a chain transmission 10, a traveling driving device 11, a controller 12, a control panel 13, a gear 14, a lifting driving device 15, a lifting frame I16, a lifting frame II 17, a connecting plate I18, a connecting rod 19, a pin shaft 20, a roller 21, a rack 22, a bearing plate 23, an adjusting rod 24, an adjusting driving device 25, a y-shaped arm I26, a y-shaped arm II 27 and a connecting plate II.
In the embodiment shown in fig. 1-7: the frame 1 is of a rectangular positive 6-face box-shaped frame structure, and the shortest 4 ridge lines and the longest 4 ridge lines of the rectangular box are parallel to the ground; the long side of the cuboid box is the longest ridge, 3 long grooves 2 perpendicular to the longest ridge are formed in the 1 vertical plate in a plumb state, the middle long groove 2 is located on a symmetrical plane perpendicular to the longest ridge of the cuboid box, and the other 2 long grooves 2 are symmetrically arranged relative to the symmetrical plane perpendicular to the longest ridge of the cuboid box. The inner surface of the vertical plate is provided with 3 guide rails parallel to the long groove 2, the cross sections of the 2 guide rails I3 positioned at two sides are L-shaped, the guide rails I3 are symmetrically arranged relative to the symmetrical plane of the cuboid box and perpendicular to the longest edge line, the cross section of the guide rail II 4 positioned in the middle is rectangular, and the distance from the guide rail II 4 to the symmetrical plane of the cuboid box and perpendicular to the longest edge line is a; the guide rail planes of the guide rail I3 and the guide rail II 4 are parallel to the vertical plate surface where the guide rail I3 is positioned, and the distance between the guide rail plane of the vertical plate surface where the guide rail II 4 is not contacted with the guide rail I3 and the inner surface of the vertical plate is equal to the distance between the guide rail plane of the vertical plate surface where the guide rail I3 is not contacted with the guide rail I3 and the inner surface of the vertical plate; the two side 2 guide rails I3 are positioned between the two side 2 long grooves 2, the difference between the distance between the two side 2 long grooves 2 and the distance between the two side 2 guide rails I3 is equal to 2a, and a cross beam 5 parallel to the ground is arranged in the cuboid box. The middle part of a driving shaft 6 of the travelling device passes through an inner hole of a driven part of a chain transmission 9, two ends of the driving shaft 6 are supported on the lower surface of a bottom plate parallel to the ground below a cuboid box of the frame 1, and are close to a vertical plate which is in a vertical state and has the shortest edge line at one end of the cuboid box, and the axis of the driving shaft 6 is parallel to the shortest edge line of the cuboid box; the bottom plate of the cuboid box of the machine frame 1 is provided with a cuboid opening corresponding to the chain transmission 9 on the driving shaft 6, the driving part of the chain transmission 9 extends into the cuboid box of the machine frame 1, and the driving wheels 7 are arranged at two ends of the driving shaft 6; an output shaft of a traveling driving device 10 arranged on the upper surface of a bottom plate parallel to the ground below a cuboid box of the frame 1 is connected with an active part of a chain transmission 9, and an axis of the output shaft of the traveling driving device 10 is parallel to the shortest ridge line of the cuboid box; the controller 11 is installed on the upper surface of the bottom plate of the cuboid box of the frame 1, the travelling driving device 10 is connected with the controller 11 through a wire, the control panel 12 is installed on the upper surface of the top plate parallel to the ground above the cuboid box of the frame 1 and near one side of the vertical plate of the cuboid box without the long groove 2, and the controller 11 is connected with the control panel 12 through a wire. The bottom plate of the cuboid box of frame 1 keeps away from the shortest crest line of drive shaft 6 department, is close to the other 1 shortest crest line departments of cuboid box and is equipped with 2 mounting holes, and the mounting hole axis is perpendicular with the bottom plate of cuboid box, and the even core line of 2 mounting holes is parallel with the longest crest line of cuboid box, and 2 universal wheel 8's swivel axis inserts in 2 mounting holes of bottom plate by the cuboid box below of frame 1 and the parallel bottom plate lower surface of ground respectively. The lifting frame I15 and the lifting frame II 16 of the lifting mechanism are of rectangular plane 4-sided frame structures, the distance between 2 short side frames of the lifting frame I15 is equal to the distance between 2 long grooves 2 on two sides of a cuboid box of the frame 1,2 long frames of the lifting frame I15 are positioned at symmetrical planes perpendicular to the long frames, 1 connecting plate I17 is respectively extended towards the length direction of the short frames in a direction away from the other 1 long frames, 1 connecting rod 18 is respectively extended towards the same direction perpendicular to the rectangular plane of the lifting frame I15, 2 connecting rods 18 are respectively extended towards the same direction of the connecting rods 18 extended towards the middle of the 2 long frames at two ends of the 2 long frames of the lifting frame I15, and 2 pin shafts 19 are respectively extended towards the length direction of the short frames in a direction away from the other 1 long frames; the distance between the 2 pin shafts 19 at the two ends of the same long frame of the lifting frame I15 is equal to the distance between the 2 short frames of the lifting frame I15, the distance between the 2 connecting rods 18 at the two ends of the same long frame is also equal to the distance between the 2 short frames of the lifting frame I15, the plate surfaces of the connecting plates I17 are parallel to the rectangular plane of the lifting frame I15, and the plate surfaces of the 2 connecting plates I17 are coplanar; the 2 long frames of the lifting frame I15 are respectively provided with 3 rollers 20 towards the extending direction of the connecting rod 18, the axes of the rollers 20 are parallel to the rectangular plane of the lifting frame I15, the axes of the rollers 20 are positioned in the same plane, the 2 rollers 20 at the two ends of the same long frame are symmetrically arranged relative to the symmetrical plane of the lifting frame I15 which is perpendicular to the long frame, the distance between the 2 rollers 20 at the two ends is equal to the distance between the 2 guide rails I3 at the two sides of the cuboid box of the frame 1, and the distance between the middle roller 20 and the symmetrical plane of the lifting frame I15 which is perpendicular to the long frame is a; the distance between the 2 short side frames of the lifting frame II 16 is equal to the distance between the 2 short side frames of the lifting frame I15, 3 rollers 20 are respectively arranged on the 2 long side frames of the lifting frame II 16 towards the same direction perpendicular to the rectangular plane of the lifting frame II 16, the axes of the rollers 20 are parallel to the rectangular plane of the lifting frame II 16, the axes of the rollers 20 are positioned in the same plane, the 2 rollers 20 at the two ends of the same long side frame are symmetrically arranged relative to the symmetrical plane of the lifting frame II 16 perpendicular to the long side frame, the distance between the 2 rollers 20 at the two ends of the same long side frame of the lifting frame II 16 is equal to the distance between the 2 rollers 20 at the two ends of the same long side frame of the lifting frame I15, and the distance between the middle roller 20 and the symmetrical plane of the lifting frame II 16 perpendicular to the long side frame is a; a rack 21 is arranged between 2 long frames of the lifting frame II 16, in the middle of the long frames and at one side of the roller 20 far away from the lifting frame II 16, the length direction of the rack 21 is parallel to the short frames of the lifting frame II 16, the tooth shape of the rack 21 faces to the direction far away from the roller 20 on the lifting frame II 16, and the plate surface of the rack 21 is perpendicular to the rectangular plane of the lifting frame II 16; the 6 connecting rods 18 extending out of the long frame of the lifting frame I15 are inserted into the cuboid box from the outside of the cuboid box of the frame 1 through 3 long slots 2 on the cuboid box, the 2 connecting rods 18 in the upper middle of the 2 long frames of the lifting frame I15 pass through the same 1 long slot 2 in the upper middle of the cuboid box, the 2 connecting rods 18 at the two ends of the 2 long frames of the lifting frame I15 respectively pass through the same 1 long slot 2 in the two sides of the cuboid box, and the direction of the offset of the idler wheels 20 in the middle of the 2 long frames of the lifting frame I15 relative to the symmetry plane of the lifting frame I15 perpendicular to the long frames is the same as the direction of the offset of the guide rail II 4 relative to the symmetry plane of the cuboid box perpendicular to the longest edge line; the tail end of the 6 connecting rods 18 inserted into the cuboid box is provided with 1 lifting frame II 16, the roller 20 on the lifting frame II 16 faces the lifting frame I15, and the rectangular plate surface of the lifting frame II 16 after installation is parallel to the rectangular plate surface of the lifting frame I15. The gear 13 is arranged on the output shaft of the lifting driving device 14 arranged on the cross beam 5 in the cuboid box of the frame 1, the gear 13 is meshed with the rack 21 arranged on the lifting frame II 16, and the lifting driving device 14 is connected with the controller 10 arranged on the upper surface of the bottom plate of the cuboid box of the frame 1 through a wire. The y-shaped arm I25 and the y-shaped arm II 26 of the supporting device are both composed of a straight arm and an inclined arm, and one end of the inclined arm is fixedly connected to the middle part of the straight arm; the end part of the inclined arm of the y-shaped arm I25, which is far away from the straight arm, is provided with a round hole, the end part of the straight arm of the y-shaped arm I25, which is close to the round hole at the end part of the inclined arm, is also provided with a round hole, the axes of the 2 round holes are all positioned in the plane where the straight arm and the inclined arm are positioned, the axis of the round hole is vertical to the straight arm, and the axes of the 2 round holes are coaxial; the end part of the inclined arm of the y-shaped arm II 26 far away from the straight arm is provided with a connecting plate II 27, and the end part of the straight arm of the y-shaped arm II 26 close to the connecting plate II 27 at the end part of the inclined arm is also provided with a connecting plate II 27,2, wherein the plate surface of the connecting plate II 27 is vertical to the straight arm, and the plate surfaces of the 2 connecting plates II 27 are coplanar; the surface of the rectangular flat-plate-shaped supporting plate 22 is fixed at one end of the straight arm of the y-shaped arm I25 far away from the round hole, the surface of the supporting plate 22 is perpendicular to the plane of the straight arm and the inclined arm of the y-shaped arm I25, the center of the surface of the other 1 supporting plate 22 is fixed at one end of the straight arm of the y-shaped arm II 26 far away from the round hole, and the surface of the supporting plate 22 is perpendicular to the plane of the straight arm and the inclined arm of the y-shaped arm II 26; the y-shaped arm II 26 fixed with the bearing plate 22 is arranged on the lifting frame I15, the plate surface of the 2 connecting plates II 27 of the y-shaped arm II 26 is attached to the plate surface of the 2 connecting plates I17, the 2 y-shaped arms I25 fixed with the bearing plate 22 are respectively hinged on 2 pin shafts 19 which are arranged on the same 1 axis at two ends of the lifting frame I15 through round holes arranged at the end parts of the inclined arms far away from the straight arms and the end parts of the straight arms close to the inclined arms, and the straight arm parts of the y-shaped arms I25 and the y-shaped arms II 26 face upwards; the 2-piece adjusting driving device 24 is hinged to two sides of the middle part of the straight arm part of the y-shaped arm II 26, one end of the 2-piece adjusting rod 23 is inserted into a power output hole of the adjusting driving device 24 respectively, the other end of the 2-piece adjusting rod 23 is hinged to one side, close to the y-shaped arm II 26, of the middle part of the straight arm part of the 2-piece y-shaped arm I25 respectively, and the 2-piece adjusting driving device 24 is connected with the controller 10 arranged on the upper surface of the cuboid box bottom plate of the frame 1 through a wire.

Claims (1)

1. The utility model provides a lifting bedridden patient transfer robot, includes chassis, elevating system and supporting device, its characterized in that: the chassis comprises a frame (1) and a travelling device, wherein the frame (1) is of a rectangular positive 6-face box-shaped frame structure, and the shortest 4 ridge lines and the longest 4 ridge lines of the rectangular box are parallel to the ground; the long side of the cuboid box is the longest edge line, 3 long grooves (2) perpendicular to the longest edge line are formed in the 1 vertical plates in a plumb state, the middle long groove (2) is positioned on a symmetrical plane of the cuboid box perpendicular to the longest edge line, and the other 2 long grooves (2) are symmetrically arranged relative to the symmetrical plane of the cuboid box perpendicular to the longest edge line; the inner surface of the vertical plate is provided with 3 guide rails parallel to the long groove (2), 2 guide rails I (3) with L-shaped cross sections on two sides are symmetrically arranged relative to the symmetrical plane of the cuboid box, which is perpendicular to the longest ridge, the distance from a guide rail II (4) with a rectangular cross section to the symmetrical plane of the cuboid box, which is perpendicular to the longest ridge, is a, the guide rail planes of the guide rail I (3) and the guide rail II (4) are parallel to the vertical plate surface where the guide rail I (3) is positioned, the distance between the guide rail plane of the guide rail II (4) which is not contacted with the vertical plate surface where the guide rail I (3) is positioned and the inner surface of the vertical plate is equal to the distance between the guide rail plane of the guide rail I (3) which is not contacted with the guide rail I (3), 2 guide rails I (3) on two sides are positioned between 2 guide rails (2) on two sides, the distance between the 2 long grooves (2) on two sides and the 2 guide rails I (3) on two sides is equal to 2a, and a cross beam (5) parallel to the ground is arranged in the cuboid box; the travelling device comprises a driving shaft (6), a driving wheel (7), universal wheels (8), a chain transmission (9), a travelling driving device (10) and a controller (11), wherein two ends of the driving shaft (6) with the middle part penetrating through an inner hole of a driven part of the chain transmission (9) are supported on the lower surface of a bottom plate parallel to the ground below a cuboid box of the frame (1), and are close to a vertical plate which is arranged at one end of the cuboid box and is in a vertical state, and the short side of the vertical plate is the shortest ridge line, and the axis of the driving shaft (6) is parallel to the shortest ridge line of the cuboid box; the bottom plate of the cuboid box of the frame (1) is provided with a cuboid opening at the position corresponding to the chain transmission (9) on the driving shaft (6), the driving part of the chain transmission (9) extends into the cuboid box of the frame (1), and driving wheels (7) are arranged at two ends of the driving shaft (6); an output shaft of a traveling driving device (10) arranged on the upper surface of a bottom plate parallel to the ground below a cuboid box of the frame (1) is connected with an active part of a chain transmission (9), and the axis of the output shaft of the traveling driving device (10) is parallel to the shortest ridge line of the cuboid box; the travelling driving device (10) is connected with a controller (11) arranged on the upper surface of a bottom plate of a cuboid box of the frame (1) through a wire, the control panel (12) is arranged on the upper surface of a top plate above the cuboid box of the frame (1) and parallel to the ground, and is close to one side of a vertical plate of the cuboid box without the long groove (2), and the controller (11) is connected with the control panel (12) through a wire; 2 mounting holes are formed in the position, far away from the shortest ridge line at the position of the driving shaft (6), of the bottom plate of the cuboid box of the frame (1) and in the position, close to the other 1 shortest ridge line of the cuboid box, the axes of the mounting holes are perpendicular to the bottom plate of the cuboid box, the connecting lines of the 2 mounting holes are parallel to the longest ridge line of the cuboid box, and the rotating shafts of the 2 universal wheels (8) are respectively inserted into the 2 mounting holes of the bottom plate, parallel to the ground, of the bottom plate below the cuboid box of the frame (1); the lifting mechanism comprises a lifting frame, a gear (13) and a lifting driving device (14), wherein the lifting frame comprises a lifting frame I (15) and a lifting frame II (16), and the lifting frame I (15) and the lifting frame II (16) are both rectangular plane 4-sided frame structures; the distance between the 2 short frames of the lifting frame I (15) is equal to the distance between the 2 long slots (2) positioned on the two sides of the cuboid box of the rack (1), the 2 long frames of the lifting frame I (15) are positioned at the symmetrical plane perpendicular to the long frames, 1 connecting plate I (17) is respectively extended towards the length direction of the short frames in the direction away from the other 1 long frames, 1 connecting rod (18) is respectively extended towards the same direction perpendicular to the rectangular plane of the lifting frame I (15), 2 connecting rods (18) are respectively extended towards the same direction of the connecting rods (18) extended towards the middle of the 2 long frames at the two ends of the 2 long frames of the lifting frame I (15), and 2 pin shafts (19) are respectively extended towards the length direction of the short frames in the direction away from the other 1 long frames; the distance between 2 pin shafts (19) at two ends of the same long frame of the lifting frame I (15) and the distance between 2 connecting rods (18) are equal to the distance between 2 short frames of the lifting frame I (15), the plate surfaces of the connecting plates I (17) are parallel to the rectangular plane of the lifting frame I (15), and the plate surfaces of the 2 connecting plates I (17) are coplanar; 3 rollers (20) are respectively arranged in the extending direction of 2 long frames of the lifting frame I (15) towards the connecting rod (18), the axes of the rollers (20) are parallel to the rectangular plane of the lifting frame I (15), the axes of the rollers (20) are positioned in the same plane, 2 rollers (20) at two ends of the same long frame are symmetrically arranged relative to the symmetry plane of the lifting frame I (15) perpendicular to the long frame, the distance between 2 rollers (20) at two ends is equal to the distance between 2 guide rails I (3) at two sides of a cuboid box of the frame (1), and the distance between the middle roller (20) and the symmetry plane of the lifting frame I (15) perpendicular to the long frame is a; the distance between the 2 short side frames of the lifting frame II (16) is equal to the distance between the 2 short side frames of the lifting frame I (15), 3 rollers (20) are respectively arranged on the 2 long side frames of the lifting frame II (16) towards the same direction perpendicular to the rectangular plane of the lifting frame II (16), the axes of the rollers (20) are parallel to the rectangular plane of the lifting frame II (16) and the axes of the rollers (20) are positioned in the same plane, the 2 rollers (20) at the two ends of the same long side frame are symmetrically arranged relative to the symmetrical plane of the lifting frame II (16) perpendicular to the long side frame, the distance between the 2 rollers (20) at the two ends of the same long side frame of the lifting frame II (16) is equal to the distance between the 2 rollers (20) at the two ends of the same long side frame of the lifting frame I (15), and the distance between the middle roller (20) and the symmetrical plane perpendicular to the long side frame II (16) is a; a rack (21) is arranged between 2 long frames of the lifting frame II (16) and in the middle of the long frames and at one side far away from the roller (20) on the lifting frame II (16), the length direction of the rack (21) is parallel to the short frames of the lifting frame II (16), the tooth shape of the rack (21) faces to the direction far away from the roller (20) on the lifting frame II (16), and the plate surface of the rack (21) is perpendicular to the rectangular plane of the lifting frame II (16); the 6 connecting rods (18) extending out of the long frame of the lifting frame I (15) are inserted into the cuboid box from the outside of the cuboid box of the frame (1) through 3 long slots (2) on the cuboid box, the 2 connecting rods (18) at the upper middle part and the two ends of the 2 long frames of the lifting frame I (15) respectively penetrate through the same 1 long slots (2) at the upper middle part and the two sides of the cuboid box, and the direction of the offset of the idler wheels (20) at the middle part of the 2 long frames of the lifting frame I (15) relative to the symmetry plane of the lifting frame I (15) perpendicular to the long frame is the same as the direction of the offset of the guide rail II (4) relative to the symmetry plane of the cuboid box perpendicular to the longest edge line; the tail end of the 6 connecting rods (18) inserted into the cuboid box is provided with 1 lifting frame II (16), a roller (20) on the lifting frame II (16) faces the lifting frame I (15), and the rectangular plate surface of the lifting frame II (16) after installation is parallel to the rectangular plate surface of the lifting frame I (15); the output shaft of a lifting driving device (14) arranged on a cross beam (5) in a cuboid box of the frame (1) is provided with a gear (13), the gear (13) is meshed with a rack (21) arranged on a lifting frame II (16), and the lifting driving device (14) is connected with a controller (11) arranged on the upper surface of a bottom plate of the cuboid box of the frame (1) through a wire; the bearing device comprises a y-shaped arm, a bearing plate (22), an adjusting rod (23) and an adjusting driving device (24), wherein the y-shaped arm comprises a y-shaped arm I (25) and a y-shaped arm II (26), the y-shaped arm I (25) and the y-shaped arm II (26) are both composed of a straight arm and an inclined arm, and one end of the inclined arm is fixedly connected with the middle part of the straight arm; a round hole is formed in the end part of the inclined arm of the y-shaped arm I (25) far away from the straight arm, a round hole is also formed in the end part of the straight arm of the y-shaped arm I (25) close to the round hole at the end part of the inclined arm, the axis of the round hole is positioned in the plane where the straight arm and the inclined arm are positioned, the axis of the round hole is vertical to the straight arm, and 2 round hole axes are coaxial; a connecting plate II (27) is arranged at the end part of the inclined arm of the y-shaped arm II (26) far away from the straight arm, a connecting plate II (27) is also arranged at the end part of the straight arm of the y-shaped arm II (26) close to the connecting plate II (27) at the end part of the inclined arm end, the plate surface of the connecting plate II (27) is vertical to the straight arm, and the plate surfaces of 2 connecting plates II (27) are coplanar; the plate surface of the rectangular flat-plate-shaped supporting plate (22) is fixed at one end of the straight arm of the y-shaped arm I (25) far away from the round hole, the plate surface of the supporting plate (22) is perpendicular to the plane where the straight arm and the inclined arm of the y-shaped arm I (25) are located, the center of the plate surface of the other 1 supporting plate (22) is fixed at one end of the straight arm of the y-shaped arm II (26) far away from the round hole, and the plate surface of the supporting plate (22) is perpendicular to the plane where the straight arm and the inclined arm of the y-shaped arm II (26) are located; the Y-shaped arm II (26) fixed with the bearing plate (22) is arranged on the lifting frame I (15), the plate surface of the 2 connecting plates II (27) of the Y-shaped arm II (26) is attached to the plate surface of the 2 connecting plates I (17), the 2Y-shaped arms I (25) fixed with the bearing plate (22) are respectively hinged on 2 pin shafts (19) which are positioned on the same 1 axis at the two ends of the lifting frame I (15) through round holes arranged at the end parts of the inclined arms far away from the straight arms and the end parts of the straight arms close to the inclined arms, and the straight arm parts of the Y-shaped arms I (25) and the straight arm II (26) are upwards; the 2 adjusting driving devices (24) are hinged to two sides of the middle part of the straight arm part of the y-shaped arm II (26), one ends of the 2 adjusting rods (23) are respectively inserted into power output holes of the adjusting driving devices (24), the other ends of the 2 adjusting rods (23) are respectively hinged to one side, close to the y-shaped arm II (26), of the middle part of the straight arm part of the 2 y-shaped arm I (25), and the 2 adjusting driving devices (24) are connected with a controller (11) arranged on the upper surface of a cuboid box bottom plate of the frame (1) through wires.
CN202010019682.6A 2020-01-08 2020-01-08 Lifting type bedridden patient carrying robot Active CN110960372B (en)

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Publication number Priority date Publication date Assignee Title
CN111702778B (en) 2020-06-16 2022-01-04 大连理工大学 A multi-arm robot that realizes the user's sitting and lying posture conversion and handling

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Publication number Priority date Publication date Assignee Title
JP2001061907A (en) * 1999-08-31 2001-03-13 Sadayoshi Kameyama Lift for nursing
DE202012101800U1 (en) * 2012-05-15 2012-06-14 BEKA Hospitec GmbH Lifting device for lifting and transporting patients
CN105147482A (en) * 2015-08-21 2015-12-16 常州工学院 Lifting and transferring apparatus for paralytic patients
CN107736975A (en) * 2017-10-17 2018-02-27 吉林宇恒慧创机电有限责任公司 A kind of intelligent nursing machine people
CN211560811U (en) * 2020-01-08 2020-09-25 淄博科创医疗仪器有限公司 Lifting type robot for transporting bedridden patients

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2001061907A (en) * 1999-08-31 2001-03-13 Sadayoshi Kameyama Lift for nursing
DE202012101800U1 (en) * 2012-05-15 2012-06-14 BEKA Hospitec GmbH Lifting device for lifting and transporting patients
CN105147482A (en) * 2015-08-21 2015-12-16 常州工学院 Lifting and transferring apparatus for paralytic patients
CN107736975A (en) * 2017-10-17 2018-02-27 吉林宇恒慧创机电有限责任公司 A kind of intelligent nursing machine people
CN211560811U (en) * 2020-01-08 2020-09-25 淄博科创医疗仪器有限公司 Lifting type robot for transporting bedridden patients

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